The following video showcases a decade’s worth of contributions by Luis Sentis at the Human Centered Robotics Lab UT Austin and Stanford in the realm of whole-body motion control for humanoid robots. This allows the robots to perform motions that would otherwise be impossible or look unnatural. It includes simulations of famous robots, like Honda’s ASIMO and KIST’s Mahru, culminating with real robots built with Meka Robotics (Dreamer and Hume).